Abstract
For an interactive real-time simulation of teleoperation, this paper describes an iterative form of resolved motion rate control in which the constraint Jacobian is constructed on-line in real time and is used in the pseudoinverse method, as the manipulator is teleoperated. The operator’s command is interpreted as a series of increments in Cartesian space, and then the constraint Jacobian is developed between two successive increments by viewing the predecessor as the initial configuration and the successor as the target configuration. The Jacobian constructed in this way enables us to treat both free motion and environmental contact in the same way. Although this method requires numerical iterations, its convergence is fast enough to allow real-time control.
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© 1993 Springer-Verlag Berlin Heidelberg
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Yae, K.H. (1993). Teleoperation of a Redundant Manipulator. In: Haug, E.J. (eds) Concurrent Engineering: Tools and Technologies for Mechanical System Design. NATO ASI Series, vol 108. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-78119-3_16
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DOI: https://doi.org/10.1007/978-3-642-78119-3_16
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